CN111268595A - Heavy AGV suitable for copper aluminium class coiled material handling - Google Patents
Heavy AGV suitable for copper aluminium class coiled material handling Download PDFInfo
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- CN111268595A CN111268595A CN202010094271.3A CN202010094271A CN111268595A CN 111268595 A CN111268595 A CN 111268595A CN 202010094271 A CN202010094271 A CN 202010094271A CN 111268595 A CN111268595 A CN 111268595A
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- fork arm
- vehicle
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- 239000000463 material Substances 0.000 title claims abstract description 33
- 229910052802 copper Inorganic materials 0.000 title claims description 8
- 239000010949 copper Substances 0.000 title claims description 8
- -1 copper aluminium class Chemical class 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000003860 storage Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims abstract description 8
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 210000003813 thumb Anatomy 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 239000004411 aluminium Substances 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- JRBRVDCKNXZZGH-UHFFFAOYSA-N alumane;copper Chemical compound [AlH3].[Cu] JRBRVDCKNXZZGH-UHFFFAOYSA-N 0.000 abstract description 10
- 229910052751 metal Inorganic materials 0.000 abstract description 2
- 239000002184 metal Substances 0.000 abstract description 2
- 150000002739 metals Chemical class 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
Abstract
The invention relates to the technical field of nonferrous metals, in particular to a heavy AGV suitable for carrying copper-aluminum coiled materials, which comprises a vehicle body and a carriage, wherein a storage battery, a vehicle-mounted controller and a driving motor are electrically connected with the carriage, the driving motor is used for driving the vehicle body to walk and turn, the heavy AGV also comprises an operation unit, a laser guidance unit and a sensor which are electrically connected with the vehicle-mounted controller, the vehicle body comprises a portal frame and a lifting mechanism, the lifting mechanism is movably connected with the portal frame, the lifting mechanism comprises a fork arm, a front plate and a chain hanging plate, the front plate is in sliding connection with a U-shaped groove rail arranged on the opposite surface of the portal frame, the fork arm is arranged on the central line of the front side surface of the front plate, the chain hanging plate is arranged on the rear side surface of the front plate, the chain hanging plate can move up and down relatively under the action of a lifting system, lifting structure lift space is big, and manual, automatic operation mode freely switch, high-efficient convenient transport roll goods.
Description
Technical Field
The invention relates to the technical field of nonferrous metals, in particular to a heavy AGV suitable for carrying copper-aluminum coiled materials.
Background
An Automated Guided Vehicle (also called an AGV car) is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a prescribed guide path, having safety protection and various transfer functions, requiring no transport Vehicle of a driver in industrial application, using a rechargeable battery as a power source, and having advantages of small volume, compact structure, and convenient and flexible operation.
At present, 1.5-5 t copper aluminium class coiled material handling among the prior art, adopt manual operation cantilever crane and fork truck to carry the method of carrying usually, there are the human cost height and dispose equipment wasting of resources scheduling problem, and AGV's use can reduce the manpower, reduce people's intensity of labour and help improving the workshop environment, promote production efficiency, reduce cost, but current two fork arms's AVG is when carrying copper aluminium class coiled material, need manual regulation both arms interval to adapt to the copper aluminium class coiled material of different specifications, improve operator's intensity of labour, reduce the efficiency of transport.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention discloses a heavy AGV suitable for carrying copper-aluminum coiled material materials, wherein a single fork arm is used for conveniently carrying coiled goods, the lifting structure is large in lifting space, manual and automatic operation modes are freely switched, and the coiled goods are efficiently and conveniently carried.
In order to achieve the purpose, the invention adopts the following technical scheme:
a heavy AGV suitable for carrying copper-aluminum coiled material comprises a vehicle body and a carriage, wherein a storage battery, a vehicle-mounted controller and a driving motor are electrically connected with the carriage, the driving motor is used for driving the vehicle body to walk and turn, the heavy AGV also comprises an operation unit, a laser guidance unit and a sensor which are electrically connected with the vehicle-mounted controller, and the operation unit, the laser guidance unit, the sensor, the storage battery, the vehicle-mounted controller and the driving motor are all arranged on a frame of the vehicle body and move along with the movement of the frame;
the lifting mechanism is movably connected with the portal frame and comprises a fork arm, a front plate and a hanging chain plate, the front plate is in sliding connection with a U-shaped groove rail arranged on the opposite surface of the portal frame, the fork arm is arranged on the central line of the front side surface of the front plate, the rear end of the fork arm is fixedly connected with the front plate, the front end of the fork arm horizontally extends in the direction far away from the front plate, the hanging chain plate is arranged on the rear side surface of the front plate, the hanging chain plate can move up and down relative to the portal frame under the action of a lifting system, and the hanging chain plate moves to drive the fork arm to move up and down relative to the portal frame;
the laser guidance unit comprises a laser scanner and a reflecting plate, the laser scanner is arranged at the top of the portal through a support, and the reflecting plate is installed on the wall or on a ground upright post;
the sensor is an infrared sensor, and the infrared sensors are respectively arranged at the front end of the fork arm and the root of the fork arm and are used for detecting materials and the material roll supporting frame;
the operation unit is used for controlling the action execution of the frame, the laser guidance unit and the sensor, has two working modes of manual operation and automatic operation, and comprises a human-computer interface, a steering wheel, a control lever and a thumb switch.
Furthermore, the yoke comprises two horizontally arranged cross beams and two vertically arranged vertical beams, and the cross beams and the vertical beams are connected to form the yoke with the cross section in a shape like a Chinese character 'hui'.
Further, the left and right sides at the front bezel trailing flank is equipped with the gyro wheel mounting panel of vertical setting respectively, is equipped with the link joint that hangs that the level set up between two gyro wheel mounting panels, is equipped with the gyro wheel respectively at the upper and lower end of two gyro wheel mounting panel lateral surfaces, the gyro wheel is equipped with the sprocket with the U-shaped groove rail rolling contact who sets up at the portal opposite face at the portal middle part, around being equipped with the chain on the sprocket, chain one end is connected with hanging the link joint, and the other end and the connected to the frame of chain, the sprocket is connected with the piston rod of the hydro-cylinder of vertical setting, and the hydro-cylinder piston rod is flexible.
Further, the AGV still includes the safety arrangement who is connected with on-vehicle controller electricity, and safety arrangement includes laser safety anticollision appearance, audible-visual annunciator, scram switch and the limit switch is touched in the anticollision, and laser safety anticollision appearance sets up in the frame rear end, and before the automobile body, left and right three direction sets up scram switch respectively, realizes AGV emergency brake through scram switch, sets up the limit switch is touched in anticollision, and when the automobile body side received extrusion collision, the vehicle can emergency stop.
Furthermore, the left side and the right side of the rear end of the bottom of the frame are correspondingly provided with a driving wheel and a balance wheel, the driving wheel and the balance wheel adopt a floating bridge structure, a walking motor and a steering motor are used for driving the driving wheel to walk and steer, and the left side and the right side of the front end of the bottom of the frame are respectively provided with a bearing wheel.
Furthermore, the driving wheel, the balance wheel and the bearing wheel are arranged in a rectangular shape, and the driving wheel, the balance wheel and the bearing wheel are all made of polyurethane tires.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention discloses a heavy AGV suitable for carrying copper-aluminum coiled material materials.A single fork arm is inserted into an inner ring of the coiled material, the fork arm with a square-shaped structure is in surface contact with the coiled material, the coiled material cannot shake on the fork arm, heavy copper-aluminum coiled material goods are carried conveniently and quickly, and the safety is high;
2. according to the heavy AGV suitable for carrying copper-aluminum coiled material, the chain plate can move up and down relative to the portal under the action of the lifting system, the chain plate moves to drive the fork arms to move up and down relative to the portal, the up-and-down movement range of the fork arms is large, goods can be directly taken from a production line and carried to a warehouse, and the heavy AGV is convenient and efficient;
3. according to the heavy AGV suitable for carrying copper-aluminum coiled material, the driving wheel, the balance wheel and the bearing wheel are all made of polyurethane tires, so that the heavy AGV has the characteristics of abrasion resistance, no indentation, silence and shock absorption, and the driving wheel and the balance wheel are respectively of a floating bridge structure, so that the driving wheel and the balance wheel can be always in contact with the ground when the road surface is uneven, and the phenomenon that the driving wheel slips is avoided;
4. the AGV has two operation modes of manual operation and automatic operation, can be freely switched according to field requirements, is flexible and convenient, and adopts an audible and visual alarm and a multi-position manual emergency stop button to ensure safety.
Drawings
FIG. 1 is a schematic side view of the present invention;
FIG. 2 is a schematic elevation view of the present invention;
FIG. 3 is a schematic view of the construction of the lifting mechanism of the present invention;
FIG. 4 is a schematic view of the working state of the present invention;
in the above figures: 1-rolling materials; 2-coil stock support frame; 3-gantry; 4-compartment 4; 5-a balance wheel; 6-driving wheels; 7-a bearing wheel; 8-a lifting mechanism; 9-oil cylinder; 10-thumb switch; 11-a joystick; 12-a steering wheel; 13-an onboard controller; 14-audible and visual alarm; 15-laser scanner; 16-a human-machine interface; 17-a scram switch; 18-a drive motor; 19-safe anti-collision touch edge switch; 20-laser safety anti-collision instrument; 21-a storage battery; 22-a cross beam; 23-vertical beams; 24-an infrared sensor; 25-yoke arm; 26-a frame; 27-a front plate; 28-a roller; 29-roller mounting plate; and (30) hanging a chain plate.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1-4, a heavy AGV suitable for carrying copper-aluminum coiled material materials comprises a vehicle body and a carriage, wherein a storage battery 21, a vehicle-mounted controller 13 and a driving motor 18 which are electrically connected are arranged in the carriage, the driving motor 18 is used for driving the vehicle body to walk and turn, the heavy AGV further comprises an operation unit, a laser guidance unit and a sensor which are electrically connected with the vehicle-mounted controller 13, and the operation unit, the laser guidance unit, the sensor, the storage battery 21, the vehicle-mounted controller 13 and the driving motor 18 are all arranged on a frame 26 of the vehicle body and move along with the movement of the frame 26;
the vehicle body also comprises a door frame 3 and a lifting mechanism 8, the door frame 3 and the carriage are arranged on the vehicle frame 26 at intervals in the front-back direction, the left side and the right side of the rear end of the bottom of the frame 26 are correspondingly provided with a driving wheel 6 and a balance wheel 5, the driving wheel 6 and the balance wheel 5 both adopt a floating bridge structure, the driving wheel 6 and the balance wheel 5 can be ensured to contact the ground all the time when the road surface is uneven, the phenomenon that the driving wheel 6 slips can not occur, the left side and the right side of the front end of the bottom of the frame 26 are respectively provided with a bearing wheel 7, the driving motor 18 comprises a walking driving motor and a steering driving motor, the walking driving motor and the steering driving motor are respectively used for driving the driving wheel 6 to walk and steer, the walking driving motor and the steering driving motor are respectively alternating current motors powered by the storage battery 21, the storage battery 21 is electrically connected with a charging device, and the charging device has two working modes of manual operation and automatic operation; the lifting mechanism 8 is movably connected with the portal 3, the lifting mechanism 8 comprises a fork arm 25, a front plate 27 and a chain hanging plate 30, the front plate 27 is in sliding connection with a U-shaped groove rail arranged on the opposite surface of the portal 3, the fork arm 25 is arranged on the central line of the front side surface of the front plate 27, the rear end of the fork arm 25 is fixedly connected with the front plate 27, the front end of the fork arm 25 horizontally extends in the direction far away from the front plate 27, the chain hanging plate 30 is arranged on the rear side surface of the front plate 27, the chain hanging plate 30 can move up and down relative to the portal 3 under the action of a lifting system, and the chain hanging plate 30 moves to drive the fork arm 25 to move up and down relative;
the laser guidance unit comprises a laser scanner 15 and a reflecting plate, the laser scanner 15 is arranged at the top of the portal 3 through a support, the reflecting plate is installed by a wall surface or a ground upright post, the laser scanner 15 and the reflecting plate work in a matched mode, a circular area with the radius not smaller than 70 meters can be detected, the guidance and the positioning of a vehicle are achieved, and the accumulated vehicle positioning precision can be controlled within +/-15 mm;
the sensor is an infrared sensor 24, and the infrared sensors 24 are respectively arranged at the front end of the fork arm 25 and the root part of the fork arm 25 and are used for detecting materials and a material roll supporting frame;
the operating unit comprises a human-computer interface 16, a steering wheel 12, an operating rod 11 and a thumb switch 10, is used for controlling the action execution of the frame 26, the laser guidance unit and the sensor, has two working modes of manual operation and automatic operation, can be manually switched, can realize the whole operation of the AGV in the manual mode, and is simultaneously provided with an emergency manual operating button when a fault occurs in the automatic mode.
The yoke 25 comprises two horizontally arranged cross beams 22 and two vertically arranged vertical beams 23, and the cross beams 22 and the vertical beams 23 are connected to form the yoke 25 with a square cross section.
The left and right sides at front bezel 27 trailing flank is equipped with the gyro wheel mounting panel 29 of vertical setting respectively, is equipped with the chaining plate 30 that the level set up between two gyro wheel mounting panels 29, is equipped with gyro wheel 28 respectively at the upper and lower end of two gyro wheel mounting panel 29 lateral surfaces, gyro wheel 28 and the U-shaped groove rail rolling contact who sets up at portal 3 opposite face are equipped with the sprocket in portal 3 middle part, around being equipped with the chain on the sprocket, chain one end is connected with chaining plate 30, and the other end and the frame 26 of chain are connected, and the sprocket is connected with the piston rod of the hydro-cylinder 9 of vertical setting, and the hydro-cylinder 9 piston rod is flexible to drive the relatively portal 3 of chaining plate 30.
The AGV further comprises a safety protection device electrically connected with the vehicle-mounted controller 13, the safety protection device comprises a laser safety anticollision instrument 20, an audible and visual alarm 14, an emergency stop switch 17 and a safety anticollision edge-touching switch 19, the laser safety anticollision instrument 20 is arranged at the rear end of the vehicle frame 26, the emergency stop switches 17 are respectively arranged in the front direction, the left direction and the right direction of the vehicle body, the safety anticollision edge-touching switch 19 is arranged on the side face of the vehicle body, the laser safety anticollision instrument 20 monitors the distance between the AGV and an obstacle and sends monitoring information to the vehicle-mounted controller 13, the vehicle-mounted controller 13 divides a monitoring area into a deceleration area and a stop area according to the distance between the AGV and the obstacle, and when the AGV enters the deceleration area, the vehicle-mounted controller 13 sends a signal to the controller of the walking driving motor to control the AGV to operate at a; when the AGV enters the stop region, the vehicle-mounted controller 13 sends a signal to the controller of the traveling motor to control the AGV to stop immediately, and the monitoring region is automatically adjusted and changed along with the traveling speed and the traveling direction of the AGV; once an accident occurs, the audible and visual alarm 14 automatically gives out audible and visual alarms, emergency stop buttons 17 are arranged in the front, left and right directions of the car body, and the AGV is controlled to emergently stop by pressing the emergency stop buttons 17 by hands; the AGV side sets up safe crashproof and touches limit switch 19, when the AGV side receives the extrusion collision, safe crashproof touches limit switch 19 control vehicle emergency stop to ensure safety.
The driving wheel 6, the balance wheel 5 and the bearing wheel 7 are arranged in a rectangular shape, and the driving wheel 6, the balance wheel 5 and the bearing wheel 7 are all made of polyurethane tires, so that the shock-absorbing wheel has the characteristics of abrasion resistance, no indentation, silence and shock absorption.
The working process of the invention is as follows:
when the heavy AGV works, the vehicle-mounted controller 13 receives cargo carrying task information through the wireless routing module, the carrying task information comprises original coordinate information and target coordinate information of a coil stock 1 to be carried, the vehicle-mounted controller 13 calculates a traveling speed value and a steering angle value of the driving wheel 6 according to the original coordinate information and the target coordinate information of the coil stock 1 to be carried, a course and a preset theoretical track, and the vehicle-mounted controller 13 drives the AGV to move to a target place through the traveling driving motor and the steering driving motor; in the walking process, the laser safety anti-collision instrument 20 detects and acquires the distance between the AGV and the obstacle, and when the AGV enters a deceleration zone, the vehicle-mounted controller 13 sends a signal to the controller of the walking driving motor to control the AGV to decelerate at a preset speed; when the AGV enters the stop region, the vehicle-mounted controller 13 sends a signal to the controller of the travel driving motor to control the AGV to stop immediately, and the monitoring region is automatically adjusted and changed along with the travel speed and the travel direction of the AGV;
the laser scanner 15 sends a guidance signal to the vehicle-mounted controller 13 to guide the AGV to reach a target site, and after the infrared sensor 24 at the front end of the fork arm 25 detects the copper-aluminum coiled material, the AGV stops advancing; the on-board controller 13 controls a piston rod of the oil cylinder 9 to extend out to lift the fork arm 25 to the height same as the center of the coiled material, the on-board controller 13 guides the AGV to travel to the coiled material lifting position according to the scanning signal of the laser scanner 15, and the on-board controller 13 controls the oil cylinder 9 to lift the fork arm 25 to a preset lifting height to finish the goods taking; the goods putting process is opposite to the goods taking process.
It should be noted that the coil stock 1 is placed through the coil stock support frame 2, the support surface of the coil stock support frame 2 is in a V shape, the height of the frame 26 is higher than that of the coil stock support frame 2, and the width of the frame 26 is larger than that of the coil stock support frame 2.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. The utility model provides a heavy AGV suitable for copper aluminium class coiled material handling, includes automobile body and carriage, is equipped with battery, on-vehicle controller and the driving motor of electricity connection in the carriage, and driving motor is used for driving the automobile body walking and turns to characterized by: the vehicle-mounted control system is characterized by also comprising an operation unit, a laser guidance unit and a sensor which are electrically connected with the vehicle-mounted controller, wherein the operation unit, the laser guidance unit, the sensor, the storage battery, the vehicle-mounted controller and the driving motor are all arranged on a frame of the vehicle body and move together along with the movement of the frame;
the lifting mechanism is movably connected with the portal frame and comprises a fork arm, a front plate and a hanging chain plate, the front plate is in sliding connection with a U-shaped groove rail arranged on the opposite surface of the portal frame, the fork arm is arranged on the central line of the front side surface of the front plate, the rear end of the fork arm is fixedly connected with the front plate, the front end of the fork arm horizontally extends in the direction far away from the front plate, the hanging chain plate is arranged on the rear side surface of the front plate, the hanging chain plate can move up and down relative to the portal frame under the action of a lifting system, and the hanging chain plate moves to drive the fork arm to move up and down relative to the portal frame;
the laser guidance unit comprises a laser scanner and a reflecting plate, the laser scanner is arranged at the top of the portal through a support, and the reflecting plate is installed on the wall or on a ground upright post;
the sensor is an infrared sensor, and the infrared sensors are respectively arranged at the front end of the fork arm and the root of the fork arm and are used for detecting materials and the material roll supporting frame;
the operation unit is used for controlling the action execution of the frame, the laser guidance unit and the sensor, has two working modes of manual operation and automatic operation, and comprises a human-computer interface, a steering wheel, a control lever and a thumb switch.
2. The heavy AGV suitable for copper aluminium class coiled material handling of claim 1, characterized by: the fork arm comprises two horizontally arranged cross beams and two vertically arranged vertical beams, and the cross beams and the vertical beams are connected to form the fork arm with the cross section in a shape like a Chinese character 'hui'.
3. The heavy AGV suitable for copper aluminium type coiled material handling of claim 1 or 2, characterized by: the left and right sides at the front bezel trailing flank is equipped with the gyro wheel mounting panel of vertical setting respectively, is equipped with the link joint that hangs that the level set up between two gyro wheel mounting panels, is equipped with the gyro wheel respectively at the upper and lower end of two gyro wheel mounting panel lateral surfaces, the gyro wheel contacts with the U-shaped groove rail roll that sets up at the portal opposite face, is equipped with the sprocket at the portal middle part, and around being equipped with the chain on the sprocket, chain one end is connected with the link joint board, and the other end and the connected to the frame of chain, the sprocket is connected with the piston rod of the hydro-cylinder of vertical setting, and the hydro-cylinder.
4. The heavy AGV of claim 3, wherein said AGV comprises: AGV still includes the safety arrangement who is connected with on-vehicle controller electricity, and safety arrangement includes laser safety anticollision appearance, audible-visual annunciator, scram switch and the limit switch is touched in the anticollision of safety, and laser safety anticollision appearance sets up in the frame rear end, sets up scram switch respectively in the three direction in the front of the automobile body, left and right, sets up the limit switch is touched in the anticollision of safety to the side of the automobile body.
5. The heavy AGV of claim 3, wherein said AGV comprises: the left side and the right side of the rear end of the bottom of the frame are correspondingly provided with a driving wheel and a balance wheel, the driving wheel and the balance wheel adopt a floating bridge structure, a walking motor and a steering motor are used for driving the driving wheel to walk and steer, and the left side and the right side of the front end of the bottom of the frame are respectively provided with a bearing wheel.
6. The heavy AGV of claim 3, wherein said AGV comprises: the driving wheel, the balance wheel and the bearing wheel are arranged in a rectangular shape, and the driving wheel, the balance wheel and the bearing wheel are all made of polyurethane tires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010094271.3A CN111268595A (en) | 2020-02-15 | 2020-02-15 | Heavy AGV suitable for copper aluminium class coiled material handling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010094271.3A CN111268595A (en) | 2020-02-15 | 2020-02-15 | Heavy AGV suitable for copper aluminium class coiled material handling |
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|---|---|
| CN111268595A true CN111268595A (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010094271.3A Pending CN111268595A (en) | 2020-02-15 | 2020-02-15 | Heavy AGV suitable for copper aluminium class coiled material handling |
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| CN (1) | CN111268595A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112394736A (en) * | 2020-12-10 | 2021-02-23 | 中建材创新科技研究院有限公司 | Automatic navigation system and method of laser navigation forklift |
| CN113353623A (en) * | 2021-05-07 | 2021-09-07 | 安徽风正新材料科技有限公司 | Energy-concerving and environment-protective type high-efficient aluminium book handling device |
| CN114890201A (en) * | 2022-05-25 | 2022-08-12 | 河北燕山钢铁集团有限公司 | Automatic blanking machine for cold-rolled coil |
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| CN112394736A (en) * | 2020-12-10 | 2021-02-23 | 中建材创新科技研究院有限公司 | Automatic navigation system and method of laser navigation forklift |
| CN112394736B (en) * | 2020-12-10 | 2023-10-13 | 中建材创新科技研究院有限公司 | Automatic navigation system and method for laser navigation forklift |
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